Abstract
In this paper, one common problem for the teams competing in the RoboCup Small Size League (SSL) is addressed, namely the interception of a moving ball at an arbitrary aspect angle relative to the direction of the shot. We present a simple, robust and efficient algorithm for the interception of a moving ball by an omnidirectional SSL robot. The algorithm, designed on the basis of a heuristic approach, requires minimal knowledge of robot dynamics and relies on two key ideas. The first idea is the consideration of ball motion via transition to a reference frame where the ball is static, and the second one is planning the motion of the robot in such a reference frame from the geometric viewpoint. Experiments conducted in a real SSL environment confirmed the beneficial properties of the algorithm: it provides successful interception in a variety of scenarios, characterized by different directions of ball motion and the positional relationships between the ball, robot and goal.
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